US 7,524,320 B2 · Mechanical actuator interface system for robotic surgical tools · patentgrep

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Abstract

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Claims31

Dependent claims

A robotic surgical system, comprising:

a drive assembly, said drive assembly operatively coupled to a control unit operable by inputs from an operator;
a surgical instrument removably couplable to said drive assembly, said instrument having a proximal portion and a distal portion, said instrument including at least one distal end effector member, said proximal portion comprising a first plurality of movable bodies;
said instrument comprising a plurality of joints, at least one of said joints being coupled to said end effector member, said joints being coupled to said first plurality of movable bodies by a plurality of drive members;
and
said drive assembly having a second plurality of movable bodies, said second plurality of movable bodies engageable with said first plurality of movable bodies such that the operator's inputs to the control unit cause the drive members to move, thereby producing a corresponding movement of at least one of said joints;
wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies, rotation of said one of said second plurality of bodies about said single rotational axis generating a corresponding rotation of said one of said first plurality of bodies about said single rotational axis when said first and second plurality of bodies are operatively engaged.

3 more elements

A robotic surgical system, comprising:

a drive assembly comprising a plurality of links, joints and motors, said drive assembly operatively coupled to a control unit operable by inputs from an operator;
a surgical instrument removably couplable to said drive assembly, said instrument having a proximal portion and a distal portion, said instrument including at least one distal end effector member, said proximal portion comprising a first plurality of movable bodies;
said instrument comprising a plurality of joints, at least one of said joints being coupled to said end effector member, said joints being coupled to said first plurality of movable bodies by a plurality of drive members;
said drive assembly having a second plurality of movable bodies coupled to said plurality of motors, said second plurality of movable bodies removably engageable with said first plurality of movable bodies such that said operator's inputs to the control unit cause the drive members to move, thereby producing a corresponding movement of at least one of said joints;
wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, and said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies, rotation of said one of said second plurality of bodies about said single rotational axis generating a corresponding rotation of said one of said first plurality of bodies about said single rotational axis when said first and second plurality of movable bodies are operatively engaged.

2 more elements

A robotic surgical system, comprising:

a drive assembly comprising a plurality of linkages and motors, said drive assembly operatively coupled to a control unit comprising a computer, said control unit operable by inputs from an operator;
surgical instrument removably couplable to said drive assembly, said instrument having a proximal portion having an interface and a distal portion, and the proximal portion comprising a first plurality of movable bodies;
said instrument including at least first and second distal end effector members, said first and second members coupled to corresponding first and second drive members;
said instrument further comprising a plurality of distal joints, at least one of said joints being coupled to said end effector members in such a manner that said end effector members are movable independently of each other as a result of movement of said drive members, each drive member being engaged to one of said first plurality of movable bodies;
said joints being coupled to said first plurality of movable bodies by a plurality of drive members;
said drive assembly having a second plurality of movable bodies coupled to said plurality of motors, said second plurality of movable bodies removably engageable with said first plurality of movable bodies such that said operator's inputs to the control unit cause the drive members to move, thereby producing a corresponding movement of at least one of said joints;
wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, and said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies, rotation of said one of said second plurality of bodies about said single rotational axis generating a corresponding rotation of said one of said first plurality of bodies about said single rotational axis when said first and second plurality of movable bodies are operatively engaged.

4 more elements

A robotic surgical system, comprising:

a drive assembly comprising a plurality of linkages and motors, said drive assembly operatively coupled to a control unit comprising a computer, said control unit operable by inputs from an operator;
a surgical instrument removably couplable to said drive assembly, said instrument having a proximal portion having an interface and a distal portion, and the proximal portion comprising a first plurality of movable bodies;
said instrument including at least first and second distal end effector members, said first and second members coupled to corresponding first and second drive members;
said instrument further comprising a plurality of distal joints, at least one of said joints being coupled to said end effector members in such a manner that said end effector members are movable independently of each other as a result of movement of said drive members, each drive member being engaged to one of said first plurality of movable bodies;
said joints being coupled to said first plurality of movable bodies by a plurality of drive members;
said drive assembly having a second plurality of movable bodies coupled to said plurality of motors, said second plurality of movable bodies removably engageable with said first plurality of movable bodies such that said operator's inputs to the control unit cause the drive members to move, thereby producing a corresponding movement of at least one of said joints;
wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, and said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies when said first and second plurality of movable bodies are operatively engaged, wherein each of said first plurality of movable bodies engages with one of said plurality of drive members, each of said drive members engaging with each of said movable bodies in a similar manner.

4 more elements

A robotic surgical system, comprising:

a drive assembly comprising a plurality of linkages and motors, said drive assembly operatively coupled to a control unit comprising a computer, said control unit operable by inputs from an operator;
a surgical instrument removably couplable to said drive assembly, said instrument having a proximal portion having an interface and a distal portion, and the proximal portion comprising a first plurality of movable bodies;
said instrument including at least first and second distal end effector members, said first and second members coupled to corresponding first and second drive members;
said instrument further comprising a plurality of distal joints, at least one of said joints being coupled to said end effector members in such a manner that said end effector members are movable independently of each other as a result of movement of said drive members, each drive member being engaged to one of said first plurality of movable bodies;
said joints being coupled to said first plurality of movable bodies by a plurality of drive members;
said drive assembly having a second plurality of movable bodies coupled to said plurality of motors, said second plurality of movable bodies removably engageable with said first plurality of movable bodies such that said operator's inputs to the control unit cause the drive members to move, thereby producing a corresponding movement of at least one of said joints;
wherein at least one of said first plurality of movable bodies is a rotatable body, at least one of said second plurality of movable bodies is a corresponding rotatable body, and said at least one of said first plurality of movable bodies shares a single rotational axis with said corresponding one of said second plurality of movable bodies when said first and second plurality of movable bodies are operatively engaged, wherein said instrument further comprises a proximal latch for releasing said surgical instrument from said drive assembly.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/316,666Filed 10 Dec 2002 · continuation
Priority: 8 Dec 1998
Published: US 2003/0083673 A11 May 2003
Granted: 28 Apr 2009
Term ends: Not estimatedThe source records don’t support an estimate.

Classification30 codes

Family

Application60/111,713Us provisional application · filed 8 Dec 1998
Application09/418,726Parent of this division · filed 15 Oct 1999
Application09/929,453Parent of this continuation · filed 13 Aug 2001
US 2003/0083673 A1Pre-grant publication · published 1 May 2003
US 7,048,745 B2Parent of this continuation
US 6,331,181 B1Parent of this division
Application09/929,453Parent of this division
US 2002/0032452 A1Published application
US 7,524,320 B2This patent

From the US filing history. Foreign family members aren’t listed.

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